JP3279984B2 - Flying object measurement evaluation method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying object and a measuring device at the time when the flying object is closest to a measuring device mounted on the flying object for measuring the flying object using radio waves. The present invention relates to a flying object measurement and evaluation method for measuring the distance and the time of the flying object.

[0002]

2. Description of the Related Art Conventionally, as a method of measuring the flying speed of a flying object or the closest approach distance between the flying object and a target, a flying object flying from an observation device to a target using a high-speed camera or a video camera. A method of capturing an image of a body together with a target and analyzing the image, or mounting a pulse radar device on the target, measuring the distance between the target and a flying object flying toward the target equipped with the pulse radar device, and performing the measurement. A flying object measurement and evaluation method for calculating a relative flying speed of the flying object and a closest approach distance between the flying object and the target from a change in the distance with time has been used.

However, in the conventional flying object measurement and evaluation method, since a high-speed camera or a video camera is used, the observation itself is difficult, the analysis of the obtained result takes time, and the accuracy is difficult to obtain. There's a problem. In addition, in the conventional method for measuring and evaluating a flying object using a pulse radar device, data may be lost due to radio waves, and there is no means for correcting the data of the missing portion. Is noise, but there are problems such as difficulty in removing the noise.

[0004]

Since the present invention measures the relative flight speed of a flying object and the closest approach distance between the flying object and a target, ie, a measuring device mounted on the flying object, the measured data lacks. In this case, this is corrected to obtain continuous data while the flying object is within the measurable distance range, and noise mixed in the data at the time of measurement is eliminated, and the relative speed of the flying object with high accuracy and the flying object An object of the present invention is to obtain data of an observation device mounted on a flying object, that is, data of a closest approach distance to a target.

[0005]

According to a first aspect of the present invention, a radio wave is transmitted to a flying object, a reflected signal of the reflected wave is received, and a Doppler signal is detected from the reflected signal. A measuring device mounted on a flying object including a pulse Doppler radar and a telemeter receiving a Doppler signal output from the pulse Doppler radar and transmitting the signal to an aerial, and a Doppler signal from the aerial of the measuring device mounted on the flying object Receiving section via an antenna, a data recording section for temporarily recording the Doppler signal output from the receiving section as Doppler signal information, and reading out the Doppler signal information recorded in the data recording section, the read Doppler signal information A signal processing unit, an operation unit, and a display unit that perform required data processing using A Doppler signal recorded in the data recording unit of the ground equipment, using a flying object measurement and evaluation device including a ground equipment and a data output unit that receives and outputs an output from the signal processing unit of the ground equipment. The Doppler frequency is detected in accordance with the elapsed time of the measurement from the Doppler signal information, and the closest distance at which the flying object approaches the Doppler radar, the relative flying speed of the flying object, and the most significant distance at which the flying object reaches the closest distance. The following theoretical formula for obtaining the Doppler frequency from the three parameters of the approach time f = 2 · Vo [1 / {1+ (Ro / Vo (To−t)) ² }]
By giving ^1/2 / λ the Doppler frequency at any three points detected from the Doppler signal information and the time at which the Doppler frequency was obtained, three simultaneous equations were established, and the closest approach distance and the relative distance of the flying object were calculated. A flying object measurement and evaluation method wherein three parameters of a flight speed and a closest approach time are obtained by calculation, and the obtained three parameters are output from the signal processing unit to a data output unit. I have.

According to another aspect of the present invention, a pulse Doppler radar for transmitting a radio wave to a flying object, receiving a reflected signal of the reflected wave, detecting a Doppler signal from the reflected signal, and a Doppler output from the pulse Doppler radar A measuring device mounted on a flying object including a telemeter that receives a signal and sends the signal to the antenna, a receiving unit that receives a Doppler signal from the antenna of the measuring device mounted on the flying object via the antenna, and the receiving unit And a data recording unit for temporarily recording the Doppler signal output from the device as Doppler signal information, reading out the Doppler signal information recorded in the data recording unit, performing necessary data processing using the read Doppler signal information, and requiring From a signal processing unit that obtains data, ground equipment consisting of an operation unit and a display unit, and a signal processing unit of the ground equipment Using projectile measurement evaluation apparatus comprised of a data output unit which outputs the received output,
The Doppler signal information recorded in the data recording unit of the ground equipment is read out, the Doppler frequency is detected from the Doppler signal information in accordance with the elapsed time of the measurement, the closest approach distance of the flying object to the Doppler radar, the relative distance of the flying object. The following theoretical formula f = 2 · Vo [1 / {1+ (Ro / Vo (To−t)) ² } for obtaining the Doppler frequency from the three parameters of the flight speed and the closest approach time at which the flying object reaches the closest approach distance. ]
^{The following} two equations giving the Doppler frequency at any two points and the time at which the Doppler frequency was obtained to ^1/2 / λ: F (ti) = 2 · Vo [1 / ｛1+ (Ro / Vo (To− t
i)) ² ｝] ^1/2 / λ F (tj) = 2 · Vo [1 / ｛1+ (Ro / Vo (To−t
j)) ² ｝] ^1/2 / λ is created, and one of the three unknown parameters (parameter A) is eliminated from the system of equations consisting of the two equations, and the unknown parameter is The following equation where two were set: Ro = Vo (ti−tj) [1 / ΔF (ti) ² / (4Vo ² −λ ²⁾
F (ti) ² ) ^1/2 −F (tj) ² / (4Vo ² −λ ² F (t
j) ² ) ^1/2 ｝] ^1/2 / λ is derived, three or more Doppler frequencies are detected from the Doppler signal information recorded in the data recording unit of the above-mentioned ground equipment, and the detected three or more Doppler frequencies are detected. 2 from frequency
A plurality of combinations of the Doppler frequencies, a plurality of combinations of the two Doppler frequencies and times corresponding to the Doppler frequencies are given to the above equation, and a group of the above equations is created. Is given as an appropriate value to one of the two parameters (referred to as parameter B), and the value of the remaining one parameter (referred to as parameter C) is obtained.
Variance value within the group is calculated, and then the parameter B
, The variance of the parameter C is calculated in the same manner, and the calculation is repeated to obtain the parameter B at which the variance of the parameter C is obtained and the value of the parameter C corresponding thereto. The value of the parameter C, the Doppler frequency detected from the Doppler signal information, and the time corresponding to the Doppler frequency are given to the three theoretical equations to obtain the parameter A, and the parameter A and the parameters B and A flying object measurement evaluation method in which the value of C is output from the signal processing unit to the data output unit as values of the closest approach distance to be obtained, the relative flying speed of the flying object and the flying object equipped with the measuring device, and the value of the closest approach time. It is characterized by being.

According to a third aspect, in the flying object measurement and evaluation method according to the first or second aspect, the values of three parameters obtained by the calculation according to the first or second aspect, that is, the closest approach distance. The values of the relative flying speed and the closest approach time between the flying object and the flying object equipped with the measuring device are given to the theoretical formula for obtaining the Doppler frequency according to claim 1, and the flying object is transmitted from the pulse Doppler radar. The time which gives continuous time at an appropriate interval during the measurable time flying in the measurable range measured by radio waves is given in time series, the Doppler frequency corresponding to the time is calculated in time series, and the signal processing unit Is a flying object measurement / evaluation method in which the Doppler frequency continuous in time series obtained by the calculation is output to a data output unit.

According to a fourth aspect of the present invention, in the flying object measurement and evaluation method according to any one of the first to third aspects, the measuring device is installed on the ground, and the telemeter of the measuring device and the receiving section of the ground device are connected by a wired connection. It is a flying object measurement and evaluation method using transmission means.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram of a flying object measurement and evaluation device showing an embodiment of the present invention, FIG. 2 is a block diagram of a flying object measurement and evaluation device showing another embodiment of the present invention, and FIG. FIG. 4A is a diagram showing a positional relationship between a flying object and a measurement device mounted on a flying object, that is, a target. FIG. 4A is a diagram showing a temporal change of a waveform of measured Doppler signal information which is a part of the output of the flying object measurement and evaluation device. FIG. 4B is a diagram showing a temporal change of the Doppler frequency of the Doppler signal obtained by detecting and calculating from FIG. 4A.

FIG. 1 is a block diagram of a flying object measurement and evaluation device showing an embodiment of the present invention, wherein 1 is a flying object, 2 is a measuring device, 21 is a pulse Doppler radar, 22 is a telemeter, 23 is an aerial, 24 is a pulse Doppler radar 2
Radio wave transmission range transmitted from 1, 3 ground equipment, 31 antenna, 32 reception unit, 33 data recording unit, 34 signal processing unit, 35 display unit, 36 operation unit, 4 data output unit It is.

FIG. 2 is a block diagram of a flying object measurement / evaluation apparatus showing another embodiment of the present invention, in which the measurement apparatus 2 in FIG. 1 is installed on the ground, and the antenna of the measurement apparatus 2 in FIG. The difference is that a wire transmission means 5 is used instead of the antenna 23 of the ground equipment 3 and the ground equipment 3, and all other points are the same as the embodiment of FIG.

FIG. 3 is a diagram showing the positional relationship between the flying object and the measuring device mounted on the flying object, that is, the target, and shows the relative position between the flying object 1 and the measuring device 2 mounted on the flying object at a certain measurement time. The relationship is approximately shown, where A is the position of the flying object 1, B
Is the position of the measuring device 2, C is the flying object 1 at the time of the closest approach
Indicates the flying direction of the flying object 1 and the angle formed by the line connecting the flying object 1 and the measuring device 2.

FIG. 4A is a diagram showing a time-dependent change of the waveform of the measured Doppler signal information which is a part of the output of the flying object measurement and evaluation apparatus, wherein the Doppler signal information read from the data recording unit 33 of the ground equipment 3 is shown. Is processed by the signal processing unit 34 and is output to the data display unit 4. In the measurement range, a Doppler signal waveform model observed for one flying object that moves at a constant speed and in a uniform direction is observed. The horizontal axis indicates time, and the vertical axis indicates time. The axis indicates the voltage, ts indicates the time when the flying object 1 enters the radio wave transmission range 24 transmitted by the pulse Doppler radar 21 of the measuring device 2, and te indicates the moment when the flying object 1 exits the radio wave transmission range 24. , And to indicates the time at which the flying object 1 comes closest to the measuring device 2. The frequency of the Doppler signal of the reflected wave is higher than the frequency of the transmitted wave at time ts, and gradually decreases from time ts toward time to under the influence of the angle θ shown in FIG. Thereafter, the frequency further decreases from the frequency of the transmitted wave toward time te. FIG. 4B is a diagram showing a change over time of the Doppler frequency of the Doppler signal detected and calculated from FIG. 4A, and is obtained by analyzing the waveform of the Doppler signal of FIG. 4A by the signal processing unit 34 of the ground equipment 3. In the time-dependent change of the Doppler frequency of the Doppler signal, the horizontal axis represents time, the vertical axis represents Doppler frequency, and times ts, te, and to are shown in FIG.
And the same time as F (ta), F (tb), F (t
c) is the Doppler frequency obtained by analyzing the Doppler signal information by the signal processing unit 34, and ta, tb, and tc are F (t
a), the time at which the values of F (tb) and F (tc) were obtained,
The curve (a) shows the temporal change of the Doppler frequency obtained by the calculation using the Doppler signal information in the signal processing unit 34, and the straight line (b) shows the ground or sea surface obtained by analyzing the Doppler signal information in the signal processing unit 34 6 shows the change over time of the Doppler frequency of the reflected wave from the hologram.

The operation will be described with reference to FIGS. 1, 3, 4A and 4B.

In FIG. 1, a flying object 1 is a flying object, such as a rocket, which moves at a very high speed and in a uniform direction in a measurement range with respect to a measuring device 2 mounted on the flying object. When the flying object 1 flies with the flying object 1 as a target and the flying object 1 passes through a range of a radio wave transmission range 24 transmitted from the pulse Doppler radar 21 of the measuring device 2, the radio wave is reflected by the flying object 1, The reflected wave is received by the pulse Doppler radar 21. The pulse Doppler radar 21 detects a Doppler signal from the received reflected wave and sends the Doppler signal to the telemeter 22. The telemeter 22 transmits the Doppler signal via the antenna 23. To send. The receiving unit 32 of the ground equipment 3 is the antenna 31
And sends it to the data recording unit 33. The data recording unit 33 records the Doppler signal once as Doppler signal information. After the measurement is completed, the measurer operates the operation unit 36 to read out the Doppler signal information recorded in the data recording unit 33 from the signal processing unit 34, and performs the following processing.

FIG. 4A is a general model showing a temporal change of a Doppler signal. The Doppler signal information obtained by actual measurement is based on the characteristics of the antenna, the radio wave transmitted from the wing of a flying object equipped with a measuring device, and the like. Defect of the reflected wave based on the cut of the pattern, and shows a complicated waveform under the influence of noise and the like due to the reflected wave from the ground or the sea surface,
The measurer displays the read Doppler signal information on the display unit 3
5 and the Doppler frequency of a portion of the waveform not affected by noise is represented by three points, for example, F (ta),
F (tb) and F (tc) are obtained. ta, tb, tc are the Doppler frequencies F (ta), F (tb), F (t
The Doppler signal information read from the data recording unit 33 at the time when c) is obtained can be displayed on the display unit 35 and read.

The Doppler frequency f is expressed by the following equation. f = 2 · Vo · cos θ / λ Expression (1) In Expression (1), cos θ is obtained from FIG.

Cos θ = [1 / {1+ (Ro / Rv) ² }] ^1/2 Equation (2) Rv: distance from position A to closest approach position C of flying object 1 at measurement time of flying object 1 Ro: the closest approach distance, that is, the distance between the position B of the measuring device 2 and the position C of the flying object 1 at the closest approach time Rm: the distance from the position A of the flying object 1 at the measuring time to the position B of the measuring device 2 Vo: Relative velocity between flying object 1 (point A) and measuring device 2 (point B) λ: wavelength of Doppler signal received by measuring device 2 θ: flying direction of flying object 1 (point A) and flying object 1 (A
(Point) and the line connecting the measuring device 2 (point B) On the other hand, if the closest approach time is T, Rv at time t
Is as follows: Rv = Vo (T−t) Expression (3) By substituting Expressions (2) and (3) into Expression (1), the following Expression (4) is obtained.

F = 2 · Vo [1 / {1+ (Ro / Vo (T−t)) ² }] ^1/2 / λ (Equation (4)) In the above equation (4), the flying object 1 and the measuring device 2 are used. Relative velocity V
6 shows the relationship between o and the closest approach distance Ro and the frequency of the received Doppler signal, and three parameters of Vo, Ro, and T are unknown.

In the equation (4), the Doppler signal information recorded in the data recording section of the ground equipment is read out, and the above three Doppler frequencies F (ta), F (ta) detected from the signal information are read out.
By giving (tb), F (tc) and the times ta, tb, and tc at which the Doppler frequencies of the three points are obtained, three simultaneous equations are obtained, and the three simultaneous equations are solved for the above three parameters. For example, three parameter values can be obtained. The values of the three parameters thus obtained, that is, the values of the closest distance of the flying object, the relative flying speed of the flying object, and the time of the closest approach are output from the signal processing unit to the data output unit.

Next, F (ti) and F (tj) are Doppler frequencies at arbitrary two points ti and tj, and are substituted for t and f in equation (4) to obtain the following two simultaneous equations F (Ti) = 2 · Vo [1 / ｛1+ (Ro / Vo (T−t
i)) ² ｝] ^1/2 / λ F (tj) = 2 · Vo [1 / ｛1+ (Ro / Vo (T−t
j)) ² ｝] ^1/2 / λ, and if one of the three parameters, for example, the closest approach time T (parameter A) is deleted, the following equation is obtained.

Ro = Vo (ti−tj) [1 / ΔF (ti) ² / (4Vo ² −λ ² F (ti) ² ) ^1/2 −F (tj) ² / (4Vo ² −λ ² F (Tj) ² ) ^1/2 ｝] ^1/2 / λ ... Equation (5) In the above equation (5), the unknowns are two of the closest approach distance Ro and the relative velocity Vo between the flying object 1 and the measuring device 2. It is. Assuming that N Doppler frequencies are obtained by the measurement, if one set of two Doppler frequencies is selected from them,
The maximum number of combinations that take 2 out of N
_{A combination of N} C ₂ = N (N−1) / 2 Doppler frequencies is obtained, and the Doppler frequency of each group and the corresponding time are substituted into equation (5) to obtain N (N−1) / 2
A group of equations (5) can be obtained.
For this group of N (N-1) / 2 equations,
An arbitrary value is given to any one of the two parameters, for example, the relative speed Vo (parameter B) between the flying object 1 and the measuring device 2 to obtain the value of the closest approach distance Ro (parameter C). , The variance of the value of the closest approach distance Ro. Such calculation is performed by changing the relative speed Vo,
The relative velocity V at which the value of the variance of the closest approach distance Ro becomes the smallest.
The value of o is obtained, and the closest approach distance Ro when the obtained value of the relative speed Vo is obtained is obtained. By substituting the two parameters thus obtained, the value of the relative velocity Vo and the value of the closest approach distance Ro, and the Doppler frequency and the time obtained by the measurement into the equation (4), the value of the closest approach time T is obtained. be able to. The relative velocity Vo and the closest approaching distance R obtained in this manner.
The values of o and the closest approach time T are output from the signal processing unit 34 to the data output unit 4 as values to be obtained. The closest approach time T corresponding to each of the parameters A, B, and C in the above description,
The combination of the relative speed Vo and the closest approach distance Ro can be arbitrarily changed.

Furthermore, the relative velocity V obtained by the above method
The values of o, the closest approach distance Ro and the closest approach time T are given in equation (4), and the time from time ts to te shown in FIG. 4 corresponds to times ts, t1, t2. Doppler frequency F (ts), F (t1), F (t2) ...
F (te) is obtained by calculation, and the obtained value F (t)
s), F (t1), F (t2)... F (te) are output from the signal processing unit 34 to the data output unit 4. By sequentially connecting the values of the output data F (ts), F (t1), F (t2)... F (te), a curve (a) shown in FIG. 4B is obtained. The value of the time interval Δt can be arbitrarily determined, such as a fixed value or a large value at both ends and a small value as approaching the center.

The signal processing section 34 compares the Doppler frequency obtained from the Doppler signal information, for example, the straight line (b) shown in FIG. 4B with the curve (a) obtained by the above calculation, and shows little change with time. A measured value, for example, a straight line (b) removes this as noise, and a Doppler frequency having a large difference as compared with the curve (a) also removes this as noise.

The examples shown in FIGS. 4A and 4B show the case where the flying object 1 passes through the measurement range of the flying object on which the measuring device 2 is mounted. That is, when colliding with the target, the curve (a) in FIG. 4B stops at time to.

The above description is all about the case where the measuring device 2 is mounted on a flying object. FIG. 2 shows a case where the measuring device 2 is installed on the ground and measurement is performed. The operation is the same as that in the case of FIG. 1 described above except that the transmission of the Doppler signal between the ground devices 3 is performed by radio waves or by wire. In FIG. 2, the telemeter 22 of the measuring device 2 and the receiving unit 32 of the ground device 3 can be eliminated depending on the conditions of the wired transmission unit 5.

[0028]

As described above, the Doppler signal due to the reflected wave may lack part of the radio wave range 24 transmitted by the pulse Doppler radar 21 due to the characteristics of the antenna or the wings of the flying body for mounting the measuring device 2 on the flying body. Therefore, the Doppler signal due to the reflected wave may be chipped, and the reflected wave from the ground, the sea surface or other objects may become noise and clear data may not be obtained. Even if there is interference, if at least three Doppler frequencies are obtained as described above, the relative speed Vo between the flying object 1 and the measuring device 2, the closest approach distance Ro and the closest approach time between the flying object 1 and the measuring device 2 T can be obtained by calculation, and if three or more Doppler frequencies are obtained, the three more accurate values, namely, the relative velocity Vo between the flying object 1 and the measuring device 2, the flying Closest approach distance R 1 between the measurement apparatus 2
o and the closest approach time T can be obtained. In addition, since data having a continuous measurement range can be obtained by calculation as described above, there is an effect that observation data can be eliminated and the influence of noise can be eliminated.

[Brief description of the drawings]

FIG. 1 is a block diagram of a flying object measurement and evaluation apparatus showing an embodiment of the present invention.

FIG. 2 is a block diagram of a flying object measurement and evaluation apparatus showing another embodiment of the present invention.

FIG. 3 is a diagram showing a positional relationship between a flying object and a measuring device.

4A is a diagram illustrating a waveform of a Doppler signal, and FIG. 4B is a diagram illustrating a change over time in a Doppler frequency.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Flying object 2 ... Measuring device 21 ... Pulse Doppler radar 22 ... Telemeter 23 ... Antenna 24 ... Radio wave transmission range 3 ... Ground equipment 31 ... Antenna 32 ... Receiving unit 33 ... Data recording unit 34 ... Signal processing unit 35 ... Display unit 36 ... operation unit 4 ... data output unit 5 ... wire transmission means

Continuation of the front page (56) References JP-A-5-249216 (JP, A) JP-A-62-69179 (JP, A) JP-A-1-314984 (JP, A) JP-A-1-119784 (JP) JP-A 9-281230 (JP, A) JP-A 5-93777 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95 F41G 7/20

Claims (4)

(57) [Claims] 1. A pulse Doppler radar for transmitting a radio wave toward a flying object, receiving a reflected signal of the reflected wave, detecting a Doppler signal from the reflected signal, and receiving a Doppler signal output from the pulse Doppler radar. A measuring device mounted on a flying object comprising a telemeter for transmitting the Doppler signal to the antenna, a receiving unit for receiving a Doppler signal from the antenna of the measuring device mounted on the flying object via the antenna, and a Doppler from the receiving unit. A data recording unit for temporarily recording the signal output as Doppler signal information, reading out the Doppler signal information recorded in the data recording unit, performing necessary data processing using the read out Doppler signal information, and obtaining necessary data Ground equipment consisting of a signal processing unit, an operation unit and a display unit, and receiving the output from the signal processing unit of the ground equipment A Doppler signal information recorded in the data recording unit of the above-mentioned ground equipment using a flying object measurement and evaluation device composed of a data output unit that outputs the Doppler frequency and a Doppler frequency according to the elapsed time of the measurement from the Doppler signal information. And the Doppler frequency is obtained from three parameters of the closest approach distance of the flying object to the Doppler radar, the relative flight speed of the flying object, and the closest approach time of the flying object to the closest approach distance. = 2 · Vo [1 / {1+ (Ro / Vo (To−t)) ² }]
By giving ^1/2 / λ the Doppler frequency at any three points detected from the Doppler signal information and the time at which the Doppler frequency was obtained, three simultaneous equations were established, and the closest approach distance and the relative distance of the flying object were calculated. A flying object measurement / evaluation method, characterized in that three parameters of a flight speed and a time of closest approach are obtained by calculation, and the obtained three parameters are output from the signal processing unit to a data output unit. 2. A pulse Doppler radar for transmitting a radio wave toward a flying object, receiving a reflected signal of the reflected wave, detecting a Doppler signal from the reflected signal, and receiving a Doppler signal output from the pulse Doppler radar. A measuring device mounted on a flying object comprising a telemeter for transmitting the signal to the antenna, a receiving unit for receiving a Doppler signal from the antenna of the measuring device mounted on the flying object via the antenna, and a Doppler from the receiving unit. A data recording unit for temporarily recording the signal output as Doppler signal information, reading out the Doppler signal information recorded in the data recording unit, performing necessary data processing using the read out Doppler signal information, and obtaining necessary data Ground equipment consisting of a signal processing unit, an operation unit and a display unit, and receiving the output from the signal processing unit of the ground equipment A Doppler signal information recorded in the data recording unit of the above-mentioned ground equipment using a flying object measurement and evaluation device composed of a data output unit that outputs the Doppler frequency and a Doppler frequency according to the elapsed time of the measurement from the Doppler signal information. The following theoretical equation f is obtained from the three parameters of the closest approach distance of the flying object to the Doppler radar, the relative flight speed of the flying object, and the closest approach time of the flying object to the closest distance. = 2 · Vo [1 / {1+ (Ro / Vo (To−t)) ² }]
^{The following} two equations giving the Doppler frequency at any two points and the time at which the Doppler frequency was obtained to ^1/2 / λ: F (ti) = 2 · Vo [1 / ｛1+ (Ro / Vo (To− t
i)) ² ｝] ^1/2 / λ F (tj) = 2 · Vo [1 / ｛1+ (Ro / Vo (To−t
j)) ² ｝] ^1/2 / λ is generated, and one of the three unknown parameters (referred to as parameter A) in the system of equations consisting of the two equations is deleted, and the unknown parameter is The following equation where two were set: Ro = Vo (ti−tj) [1 / ΔF (ti) ² / (4Vo ² −λ ²⁾
F (ti) ² ) ^1/2 −F (tj) ² / (4Vo ² −λ ² F (t
j) ² ) ^1/2 ｝] ^1/2 / λ is derived, three or more Doppler frequencies are detected from the Doppler signal information recorded in the data recording unit of the above-mentioned ground equipment, and the detected three or more Dopplers are detected. 2 from frequency
A plurality of combinations of the Doppler frequencies, a plurality of combinations of the two Doppler frequencies, and times corresponding to the Doppler frequencies are given to the equation, and a group of the equations is created. Is given as an appropriate value to one of the two parameters (referred to as parameter B), and the value of the remaining one parameter (referred to as parameter C) is obtained.
Variance within the group is calculated, then the parameter B
, The variance of the parameter C is calculated in the same manner, and the above calculation is repeated to obtain the parameter B at which the variance of the parameter C is obtained and the value of the parameter C corresponding thereto. The value of the parameter C, the Doppler frequency detected from the Doppler signal information, and the time corresponding to the Doppler frequency are given to the three theoretical equations to obtain a parameter A, and the parameter A and the parameter B obtained by the above calculation are obtained. And outputting the values of C and C from the signal processing unit to the data output unit as values of the required closest approach distance, the relative flying speed of the flying object and the flying object equipped with the measuring device, and the value of the closest approach time. Measurement evaluation method. 3. A value of three parameters obtained by the calculation according to claim 1 or 2, that is, a closest approach distance, a relative flying speed between the flying object and the flying object equipped with the measuring device, and a closest approach time. Is given to the theoretical formula for obtaining the Doppler frequency according to claim 1, and a proper interval is set between the measurable times during which the flying object flies over the measurable range measured by the radio wave transmitted from the pulse Doppler radar. Is given in a time-series manner, and a Doppler frequency corresponding to the time is calculated in a time-series manner, and the signal processing unit outputs a time-series continuous Doppler frequency obtained by the calculation to a data output unit. The flying object measurement / evaluation method according to claim 1 or 2, wherein: 4. The flying object measurement / evaluation method according to claim 1, wherein the measuring device is installed on the ground, and transmission means by a wired connection between a telemeter of the measuring device and a receiving unit of the ground device is provided. A flying object measurement evaluation method characterized by using: